ArActionDesired.cpp

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArActionDesired.h"

const double ArActionDesired::NO_STRENGTH = 0.0;
const double ArActionDesired::MIN_STRENGTH = .000001;
const double ArActionDesired::MAX_STRENGTH = 1.0;

const double ArActionDesiredChannel::NO_STRENGTH =
                                                 ArActionDesired::NO_STRENGTH;
const double ArActionDesiredChannel::MIN_STRENGTH = 
                                                ArActionDesired::MIN_STRENGTH;
const double ArActionDesiredChannel::MAX_STRENGTH = 
                                                ArActionDesired::MAX_STRENGTH;


AREXPORT void ArActionDesired::log(void) const
{
  // all those maxes and movement parameters
  if (getMaxVelStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "\tMaxTransVel %.0f", getMaxVel());
  if (getMaxNegVelStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "\tMaxTransNegVel %.0f", 
           getMaxNegVel());
  if (getTransAccelStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "\tTransAccel %.0f", getTransAccel());
  if (getTransDecelStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "\tTransDecel %.0f", getTransDecel());
  if (getMaxRotVelStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "%25s\tMaxRotVel %.0f", "",
           getMaxRotVel());
  if (getRotAccelStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "%25s\tRotAccel %.0f", "",
           getRotAccel());
  if (getRotDecelStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "%25s\tRotDecel %.0f", "",
           getRotDecel());
  
  // the actual movement part
  if (getVelStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "\tVel %.0f", getVel());
  if (getHeadingStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "%25s\tHeading %.0f", "", 
           getHeading());
  if (getDeltaHeadingStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "%25s\tDeltaHeading %.0f", "", 
           getDeltaHeading());
  if (getRotVelStrength() >= ArActionDesired::MIN_STRENGTH)
    ArLog::log(ArLog::Normal, "%25s\tRotVel %.0f", "", 
           getRotVel());
}


AREXPORT bool ArActionDesired::isAnythingDesired(void) const
{
  if (getMaxVelStrength() >= ArActionDesired::MIN_STRENGTH ||
      getMaxNegVelStrength() >= ArActionDesired::MIN_STRENGTH || 
      getTransAccelStrength() >= ArActionDesired::MIN_STRENGTH || 
      getTransDecelStrength() >= ArActionDesired::MIN_STRENGTH ||
      getMaxRotVelStrength() >= ArActionDesired::MIN_STRENGTH ||
      getRotAccelStrength() >= ArActionDesired::MIN_STRENGTH ||
      getRotDecelStrength() >= ArActionDesired::MIN_STRENGTH ||
      getVelStrength() >= ArActionDesired::MIN_STRENGTH ||
      getHeadingStrength() >= ArActionDesired::MIN_STRENGTH ||
      getDeltaHeadingStrength() >= ArActionDesired::MIN_STRENGTH ||
      getRotVelStrength() >= ArActionDesired::MIN_STRENGTH)
    return true;
  else
    return false;
}

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